一种地平线与跑道边缘线检测方法

Method of horizon and edges of runway detection

在基于计算机视觉的无人机着陆系统中,利用地平线和跑道边缘线方程解算着陆参数是一种可行的方法。利用计算机视觉和图像处理技术研究了一种地平线和跑道边缘线提取方法,利用Canny算子对原始图像进行预处理,获取图像的边缘信息。提出了一种新的直线检测方法,并利用检测出的直线和图像像素坐标系横坐标的夹角确定地平线和跑道左、右边缘线。实验研究表明:该方法可以在不同的高度、不同亮度图像中有效地检测出地平线和跑道边缘线。

For computer vision-based landing of unmanned aerial vehicle（ UAV）, it is possible to obtain landing parameters by equations of horizon and edges of runway. A method of horizon and edges of runway detection by using computer vision and image processing technology is studied. Original image are processed by Canny operator to obtain edge information. A new method of line detection is presented, and the horizon and edges of runway is determined by angle between detected line and horizontal axis of image pixel coordinate system. Experimental research shows that this method can detect horizon and edges of runway effectively at different heights and different illumination condition in landing of UAV.